Update may 2023 (#44)

* Fix errors caused by upgrade to swig 4.1.1

* Work on swig updates

* Continuing work on swig updates

* Work on testing and fixing swig errors

* Work updating viewer to new Tesseract version

* Bump tesseract_python and tesseract_viewer_python versions

* Use custom targets to build python wheels

* Work on wrapping tesseract_task_composer

* Use _wrap_ functions instead of implicit constructors for command language Poly types

* Fix task composer dll loading anchor env variable

* Begin adding improved Python documentation

* Work on improved documentation

* Work on improved documentation

* Add collision check example

* Add robot kinematics example

* Add plugin note to collision checking example

* Add note on the resource locator to example

* Fix some sphinx warnings

* Add planning examples

* Update readme

* Add resource locator mention

* Add examples to sphinx

* Add notes to modules

* More documentation and usage notes

* Update links and add attribution

* Add autodoc note

* Update documentation name

* Use temporary dep repos for build

* Use master branch for tesseract dep

* Fix missing task composer env variable

* Fix tests. Require swig 4.1.1 to avoid memory errors

* Build swig version 4.1.1 in wheels build

* Install curl on ubuntu wheel build

* Add document building to wheel CI

* Work on api docs deployment

* Work on api docs deployment

* Fix api_docs workflow

* Fix api_docs workflow

* Add support for markers in viewer

* Use version 0.153.0 of threejs

* Add clear markers by name and tag

* Add trajectory plotting using markers

* Don't show vr button if not available

* Fix tesseract_task_composer_python module link libraries

* Update to upstream tesseract_task_composer include files

* Fix animations updates and handle multiple websocket connections

* Fix unique_ptr swig typemaps

* Use trajopt master

* Fix UPtr support in Python for tesseract_task_composer

* Add documentation notes about make_unique and UPtr cast functions

* Fix planning problem uptr constructor and pytests

* Swig include task_composer_pipeline.h

* Switch order of trajectory list arguments to have joint_names first. Add documentation for viewer

* Update readme

* Use trajopt master branch

* Update generated api docs

* Add extract_python_docs.py tool

* Add anchor for task_composer_task_plugin_factory

* Fix prismatic joints in viewer

* Use tesseract_planning master

* Fix plugin anchor includes

* Use tesseract 0.18.1 and trajopt 0.6.0

* Fix trajopt namespace rename

* Use tesseract_planning 0.18.2

* Update docs

Author: johnwason

.github/workflows/api_docs.yml

@@ -1,24 +1,42 @@
 name: DeployDocumentation
 
 on:
-  push:
-    branches:
-      - master
+  workflow_dispatch:
+    inputs:
+      run_number:
+        description: 'Run number of the wheels workflow to pull documentation from'
+        required: true
 
 jobs:
-  deploy_documentation:
-    runs-on: ubuntu-18.04
+  collect_documentation:
+    runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
-
-      - name: Build Doxygen Documentation
-        uses: mattnotmitt/doxygen-action@v1
+      - uses: dawidd6/action-download-artifact@v2
         with:
-            doxyfile-path: 'doxygen.config'
-
-      - name: Deploy Documentation
-        uses: peaceiris/actions-gh-pages@v3
+          workflow: 'wheels.yml'
+          run_number: ${{ github.event.inputs.run_number }}
+          name: 'python-docs-ubuntu-20.04-3.10'
+          path: 'docs'
+      - uses: actions/upload-pages-artifact@v1
         with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          publish_dir: ./docs
-          keep_files: true
+          path: 'docs'
+  deploy_documentation:
+    # Add a dependency to the build job
+    needs: collect_documentation
+
+    # Grant GITHUB_TOKEN the permissions required to make a Pages deployment
+    permissions:
+      pages: write      # to deploy to Pages
+      id-token: write   # to verify the deployment originates from an appropriate source
+
+    # Deploy to the github-pages environment
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+
+    # Specify runner + deployment step
+    runs-on: ubuntu-latest
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v1

.github/workflows/wheels.yml

@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - master
+      - dev
   pull_request:
   release:
     types:
@@ -75,7 +76,13 @@ jobs:
         liburdfdom-dev liboctomap-dev liborocos-kdl-dev libpcl-dev
         libflann-dev libjsoncpp-dev libyaml-cpp-dev git cmake ninja-build
         build-essential autoconf automake libtool bison libpcre2-dev libpcre3-dev
-        lcov libbullet-dev libbullet-extras-dev python3-venv -y -qq
+        lcov libbullet-dev libbullet-extras-dev python3-venv curl -y -qq
+    - name: build-swig
+      uses: johnwason/swig-build-action@v1
+      with:
+        cache-key: ${{ matrix.config.os }}-${{ matrix.config.python_version }}
+        version: "4.1.1"
+
     - uses: actions/setup-python@v4
       id: setup-python
       with:
@@ -84,6 +91,7 @@ jobs:
       run: |
         python -m pip install --upgrade pip
         python -m pip install auditwheel wheel numpy setuptools colcon-common-extensions vcstool patchelf
+        python -m pip install -r ws/src/tesseract_python/docs/requirements.txt
     - name: vcs import
       working-directory: ws/src
       run: vcs import --input tesseract_python/dependencies_with_ext.rosinstall
@@ -100,22 +108,34 @@ jobs:
         -DTESSERACT_PYTHON_BUILD_WHEEL=ON
         -DTESSERACT_PYTHON_WHEEL_PLATFORM=${{ matrix.config.py_platform }}
         -DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_PLUGIN_FACTORY_CALLBACKS=ON
+        -DTESSERACT_PYTHON_BUILD_DOCUMENTATION=ON
     - name: test
       shell: bash
       run: |
         python3 -m venv venv
         source venv/bin/activate
         python -m pip install --upgrade pip
         python -m pip install ws/build/tesseract_python/python/wheelhouse/*
-        python -m pip install pytest
+        python -m pip install pytest        
         export TESSERACT_SUPPORT_DIR=$GITHUB_WORKSPACE/ws/src/tesseract/tesseract_support
+        export TESSERACT_TASK_COMPOSER_DIR=$GITHUB_WORKSPACE/ws/src/tesseract_planning/tesseract_task_composer
         cd ws/src/tesseract_python/tesseract_python
         pytest -s
+    - name: build docs
+      shell: bash
+      working-directory: ws/build/tesseract_python
+      run: |
+        cmake --build . --config Release --target tesseract_python_doc
     - name: archive wheels
       uses: actions/upload-artifact@v2
       with:
         name: 'python-wheels-${{ matrix.config.os }}-${{ matrix.config.python_version }}'
         path: ws/build/tesseract_python/python/*
+    - name: archive docs
+      uses: actions/upload-artifact@v2
+      with:
+        name: 'python-docs-${{ matrix.config.os }}-${{ matrix.config.python_version }}'
+        path: ws/build/tesseract_python/docs/*
   build-win:
     runs-on: windows-2019
     strategy:
@@ -152,14 +172,15 @@ jobs:
         python-version: '${{ matrix.config.python_version }}'
         architecture: ${{ matrix.config.arch }}
     - name: vcpkg build
-      uses: johnwason/vcpkg-action@v4
+      uses: johnwason/vcpkg-action@v5
       with:
         pkgs: >-
           ${{ env.VCPKG_PKGS }}
         triplet: ${{ matrix.config.vcpkg_triplet }}
         extra-args: --clean-after-build
         token: ${{ github.token }}
         cache-key: win-${{ matrix.config.arch }}-python-${{ matrix.config.python_version }}
+        revision: master
     - name: pip3
       run: |
         python -m pip install numpy setuptools wheel pytest delvewheel colcon-common-extensions vcstool
@@ -208,6 +229,7 @@ jobs:
         python -m pip install pytest
         if %errorlevel% neq 0 exit /b %errorlevel%
         set TESSERACT_SUPPORT_DIR=%GITHUB_WORKSPACE%\ws\src\tesseract\tesseract_support
+        set TESSERACT_TASK_COMPOSER_DIR=%GITHUB_WORKSPACE%\ws\src\tesseract_planning\tesseract_task_composer
         if %errorlevel% neq 0 exit /b %errorlevel%
         cd %GITHUB_WORKSPACE%\ws\src\tesseract_python\tesseract_python
         if %errorlevel% neq 0 exit /b %errorlevel%

.github/workflows/windows_noetic_build.yml

@@ -46,5 +46,6 @@ jobs:
         if %errorlevel% neq 0 exit /b %errorlevel%
         call "%CD%\install_isolated\setup.bat"
         set TESSERACT_SUPPORT_DIR=%CD%\src\tesseract\tesseract_support
+        set TESSERACT_TASK_COMPOSER_DIR=%GITHUB_WORKSPACE%\src\tesseract_planning\tesseract_task_composer
         C:/opt/ros/noetic/x64/python.exe -m pytest src\tesseract_python\tesseract_python
         if %errorlevel% neq 0 exit /b %errorlevel%